Aiming at the compliant control problem of flexible joint manipulator when it contacts with environment, an impedance control is proposed based on backstepping approach. And the stability of the controller is proven b...
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Aiming at the compliant control problem of flexible joint manipulator when it contacts with environment, an impedance control is proposed based on backstepping approach. And the stability of the controller is proven by using Lyapunov stability theory. The approach is on the basis of the model of flexible joint robot manipulator, which combines the choice of a Lyapunov function with the design of controller. The backstepping design technique starts from the differential equation in its smallest order of the system, which designs the satisfied virtual control step by step, then the real controller can be obtained. The experimental results of trajectory tracking and impedance control show the effectiveness and feasibility of the proposed control approach.
For operation and manipulation with nanometric positioning precision,an integrated micro nano-positioning xy-stage is developed,which is mainly composed of a silicon-based xy-stage,comb-driven actuator and displacemen...
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For operation and manipulation with nanometric positioning precision,an integrated micro nano-positioning xy-stage is developed,which is mainly composed of a silicon-based xy-stage,comb-driven actuator and displacement *** high-aspect-ratio comb-driven xy-stage is achieved by deep reactive ion etching (DRIE) in both sides of *** displacement sensor is mainly composed of four vertical sidewall surface piezoresistor connected to form a full Wheatstone bridge.A simple vertical sidewall surface piezoresistor process which improves on the basis of the conventional surface piezoresistor technique is *** experimental results verify the integrated micro nano-positioning xy-stage including the vertical sidewall surface piezoresistor *** sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV/μm without amplification and the linearity is better than 0.814%.Under 30 V driving voltage,a ±10 μm single-axis displacement is measured without *** displacement resolution of the micro xy-stage is better than 10.8 nm.
A modified genetic algorithm for global path planning of searching robot in mine disasters is proposed in this paper. The grid model is built based on the mine GIS (Geographic Information system) which can be obtained...
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A modified genetic algorithm for global path planning of searching robot in mine disasters is proposed in this paper. The grid model is built based on the mine GIS (Geographic Information system) which can be obtained from the mine in advance. Using the position information feedback from the Ant Colony Optimization and priority grouping, we present a new efficient method to generate the initial population. Four traditional genetic operators and a fitness function are designed to find the optimum path planning. To avoid the premature, we make some changes to the mutation operators, and self-adaptively adjust the probabilities of crossover and mutation. The simulation is carried out in MATLAB, and the result verifies that it can acquire better collision-free path in higher speed.
As the endeffectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. So the steady and reliable performance of the microgripper is needed. In th...
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As the endeffectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. So the steady and reliable performance of the microgripper is needed. In this work, a hybrid-type electrostatic silicon microgripper integrated vacuum tool is designed and fabricated to realize the steady gripping and reliable placing manipulations. This hybrid-type microgripper keeps the traditional functions of electrostatic comb drive microgripper and also combines the advantages of the vacuum tool. Vacuum tool integrated in this novel microgripper is used to improve its pick and place capability. Bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer. The vacuum control subsystem and electrostatic comb drive control subsystem are also designed for the microgripper controlling. At a driving voltage of 80V, a deflection of 25¿m at the arm tip of the gripper is achieved. The objects ranging from 100¿m to 200¿m are picked and placed successfully in the experiment, and the experiment results indicate that this microgripper can realize the steady manipulation.
We adopt multi-point planning method based on cubic spline function to perform parametric design of dynamic walking. The objective of optimization is to achieve maximum ZMP stability and minimum joint driving torque, ...
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ISBN:
(纸本)9781424447749
We adopt multi-point planning method based on cubic spline function to perform parametric design of dynamic walking. The objective of optimization is to achieve maximum ZMP stability and minimum joint driving torque, together with the combination of multi-objective genetic algorithm to optimize the gait parameters. Simulation verification has also been carried out in ADAMS and Matlab after optimization. In addition, we tested dynamic walking on kid humanoid robot platform, by which the realization of dynamic and steady walking of physical prototype further proves the validity of the theoretical research. Moreover, we've made a preliminary study on the planning method of performing complex actions such as push-ups, by which the realization of scheduled actions through simulation and physical prototype experiments also proved the rationality of the planning.
In this paper, we decouple the motion-planning problem of humanoid robots into two sub-problems, namely topological state planning and detailed motion planning. The state classification plays a key role for the first ...
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In this paper, we decouple the motion-planning problem of humanoid robots into two sub-problems, namely topological state planning and detailed motion planning. The state classification plays a key role for the first sub-problem. We propose several basic states, including lying, sitting, standing and handstanding, abstracted from the daily exercises of human beings. Each basic state is classified further from the topological point of view. Furthermore, generalised function (GF) set theory is applied with the aim of analysing the kinematic characteristics of the end effectors for each state, and meaningful names are assigned for each state. Finally a topological state-planning example is given to show the effectiveness of this methodology. The results show that the large amounts of states can be described using assigned names, which leads to systematic and universal description of the states for humanoid robots.
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